CN110248148A - A kind of method and device of determining positional parameter - Google Patents
A kind of method and device of determining positional parameter Download PDFInfo
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- CN110248148A CN110248148A CN201811115795.5A CN201811115795A CN110248148A CN 110248148 A CN110248148 A CN 110248148A CN 201811115795 A CN201811115795 A CN 201811115795A CN 110248148 A CN110248148 A CN 110248148A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
- G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/617—Upgrading or updating of programs or applications for camera control
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/62—Control of parameters via user interfaces
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/66—Remote control of cameras or camera parts, e.g. by remote control devices
- H04N23/661—Transmitting camera control signals through networks, e.g. control via the Internet
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30244—Camera pose
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/61—Control of cameras or camera modules based on recognised objects
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/80—Camera processing pipelines; Components thereof
Abstract
The invention discloses a kind of method and devices of determining positional parameter, which comprises obtains the angle of current ball machine camera lens Yu the longitudinally asymmetric axis of ball machine；The first coordinate information for obtaining target pixel points in the first image determines initial alignment parameter according to angle, the first coordinate information and preset horizontal parameters and Vertical Parameters；Control ball machine is positioned according to initial alignment parameter；The second coordinate information of target pixel points determines relative co-ordinate information according to the second coordinate information and the first coordinate information in second image of the ball machine camera lens acquisition after obtaining positioning；According to angle, preset horizontal parameters and Vertical Parameters, the first coordinate information and relative co-ordinate information, target positional parameter is determined.The method of determining positional parameter provided in an embodiment of the present invention can be adapted to the 3D positioning of different vendor's ball machine.
Description
Technical field
The present invention relates to technical field of video monitoring more particularly to a kind of method and devices of determining positional parameter.
Background technique
Camera lens is gone to the center of defined area by the range that ball machine 3D is positioned as being delimited according to user.Due to ball machine picture position
Set and determined by two dimensions: 360 ° of shafts of level and vertical 180 ° of shafts, picture transverse shifting can be made by horizontally rotating, vertical to rotate
Picture can be made to vertically move, therefore can be by determining that relative displacement laterally and longitudinally goes to designated position to manipulate ball machine camera lens.
Fig. 1 is ball machine 3D positioning flow schematic diagram in the prior art, as shown in Figure 1, user delimit square in monitoring screen
Coordinate system is established using monitored picture center as origin in shape region, the slewing area on both horizontally and vertically is normalized to [-
1,1], wherein for x-axis, the slewing area of negative semiaxis and positive axis is all 180 °, for y-axis, negative semiaxis and positive axis
Slewing area be all 90 °.Calculate the rectangular area center point coordinate (x, y) and the rectangular area delimited and prison that user delimit
Control the area accounting of picture.Due to ball machine be by 360 ° of level rotation and vertical 180 ° rotations be normalized to respectively [- 1,1], and
For native monitoring picture, 360 ° and 180 ° are not achieved in the slewing area of x-axis and y-axis, it is therefore desirable to by native monitoring picture
The slewing area of slewing area and ball machine is converted, that is, the conversion of slewing area is carried out by horizontal parameters and Vertical Parameters
's.When practical application, the angle theta of current ball machine camera lens Yu the longitudinally asymmetric axis of ball machine is obtained first, by coordinate (x*a/sin θ, y*
B) and area accounting is sent to ball machine, and ball machine is correspondingly rotated and scaled, to realize the positioning of ball machine, wherein a is water
Flat parameter, b are Vertical Parameters.
Ball machine 3D positioning needs to solve the problems, such as one, the i.e. normalized coordinate and ball machine of local monitor picture in specific implementation
Normalized coordinate conversion the problem of, i.e. ball machine 3D positioning before it needs to be determined that positional parameter a and b.If used ball machine is
Same manufacturer, then presetting corresponding positional parameter can be achieved with accurate 3D positioning function, but for the ball machine of different vendor,
Due to being influenced by factors such as its focal lengths, the value of a and b are also not quite similar, if with the same parameter value come to different vendor
Ball machine is positioned, and can there are problems that 3D position inaccurate, therefore is needed one kind now and be determined to adaptation different vendor's ball
The scheme of the 3D positional parameter of machine.
Summary of the invention
The embodiment of the invention provides a kind of method and devices of determining positional parameter, to solve not having also in the prior art
Have it is a kind of be determined to adaptation different vendor's ball machine 3D positional parameter scheme the problem of.
The embodiment of the invention provides a kind of methods of determining positional parameter, which comprises
Obtain the angle of current ball machine camera lens Yu the longitudinally asymmetric axis of ball machine；
The first coordinate information for obtaining target pixel points in the first image of current ball machine camera lens acquisition, according to the folder
Angle, first coordinate information and preset horizontal parameters and Vertical Parameters determine that initial alignment is joined using the first preset formula
Number；
The initial alignment parameter is sent to the ball machine, the ball machine is controlled and is carried out according to the initial alignment parameter
Positioning；
Second coordinate information of target pixel points described in the second image of the ball machine camera lens acquisition after obtaining positioning, according to
Second coordinate information and the first coordinate information, determine relative co-ordinate information；
According to the angle, preset horizontal parameters and Vertical Parameters, the first coordinate information and relative co-ordinate information, use
Second preset formula determines target positional parameter.
Further, first preset formula includes:
A=x1×a1/sinθ；
B=y1×b1；
In formula, x1And y1Abscissa and ordinate in respectively the first coordinate information, a1And b1Respectively preset level
Parameter and Vertical Parameters, θ are the angle of current ball machine camera lens and the longitudinally asymmetric axis of ball machine, and a and b are respectively in initial alignment parameter
Horizontal parameters and Vertical Parameters.
Further, the first coordinate information of target pixel points includes: in the first image of acquisition
User is received to the clicking operation of target pixel points in the first image, determines the corresponding coordinate letter of the clicking operation
Breath, using the coordinate information as the first coordinate information of target pixel points in the first image；
The second coordinate information for obtaining target pixel points described in the second image includes:
User is received to the clicking operation of target pixel points described in the second image, determines the corresponding seat of the clicking operation
Information is marked, using the coordinate information as the second coordinate information of target pixel points in second image.
Further, described according to second coordinate information and the first coordinate information, determine that relative co-ordinate information includes:
By the difference of the abscissa in the abscissa and second coordinate information in first coordinate information, as institute
State the abscissa in relative co-ordinate information；It will be vertical in the ordinate and second coordinate information in first coordinate information
The difference of coordinate, as the ordinate in the relative co-ordinate information.
Further, second preset formula includes:
A'=a1×sinθ×x1/x2；
B'=b1×y1/y2；
In formula, x1And y1Abscissa and ordinate in respectively the first coordinate information, a1And b1Respectively preset level
Parameter and Vertical Parameters, θ are the angle of current ball machine camera lens and the longitudinally asymmetric axis of ball machine, x2And y2Respectively relative co-ordinate information
In abscissa and ordinate, a' and b' are respectively horizontal parameters and Vertical Parameters in target positional parameter.
On the other hand, the embodiment of the invention provides a kind of device of determining positional parameter, described device includes:
Module is obtained, for obtaining the angle of current ball machine camera lens Yu the longitudinally asymmetric axis of ball machine；
First determining module, for obtaining the first coordinate of target pixel points in the first image that current ball machine camera lens acquires
Information, according to the angle, first coordinate information and preset horizontal parameters and Vertical Parameters, using the first default public affairs
Formula determines initial alignment parameter；
Sending module controls the ball machine according to described first for the initial alignment parameter to be sent to the ball machine
Beginning positional parameter is positioned；
The acquisition module, target pixel points described in the second image of the ball machine camera lens acquisition after being also used to obtain positioning
The second coordinate information relative co-ordinate information is determined according to second coordinate information and the first coordinate information；
Second determining module, for according to the angle, preset horizontal parameters and Vertical Parameters, the first coordinate information and
Relative co-ordinate information determines target positional parameter using the second preset formula.
Further, first preset formula includes:
A=x1×a1/sinθ；
B=y1×b1；
In formula, x1And y1Abscissa and ordinate in respectively the first coordinate information, a1And b1Respectively preset level
Parameter and Vertical Parameters, θ are the angle of current ball machine camera lens and the longitudinally asymmetric axis of ball machine, and a and b are respectively in initial alignment parameter
Horizontal parameters and Vertical Parameters.
Further, the acquisition module grasps the click of target pixel points in the first image specifically for receiving user
Make, the corresponding coordinate information of the clicking operation is determined, using the coordinate information as target pixel points in the first image
First coordinate information；
The acquisition module, specifically for receiving user to the clicking operation of target pixel points described in the second image, really
Determine the corresponding coordinate information of the clicking operation, is sat the coordinate information as second of target pixel points in second image
Mark information.
Further, the acquisition module, specifically for by the abscissa and described second in first coordinate information
The difference of abscissa in coordinate information, as the abscissa in the relative co-ordinate information；It will be in first coordinate information
Ordinate and second coordinate information in ordinate difference, as the ordinate in the relative co-ordinate information.
Further, second preset formula includes:
A'=a1×sinθ×x1/x2；
B'=b1×y1/y2；
In formula, x1And y1Abscissa and ordinate in respectively the first coordinate information, a1And b1Respectively preset level
Parameter and Vertical Parameters, θ are the angle of current ball machine camera lens and the longitudinally asymmetric axis of ball machine, x2And y2Respectively relative co-ordinate information
In abscissa and ordinate, a' and b' are respectively horizontal parameters and Vertical Parameters in target positional parameter.
The embodiment of the invention provides a kind of method and devices of determining positional parameter, which comprises obtains current
The angle of ball machine camera lens and the longitudinally asymmetric axis of ball machine；Obtain the of target pixel points in the first image of current ball machine camera lens acquisition
One coordinate information, it is pre- using first according to the angle, first coordinate information and preset horizontal parameters and Vertical Parameters
If formula, initial alignment parameter is determined；The initial alignment parameter is sent to the ball machine, controls the ball machine according to
Initial alignment parameter is positioned；Second of target pixel points described in second image of the ball machine camera lens acquisition after obtaining positioning
Coordinate information determines relative co-ordinate information according to second coordinate information and the first coordinate information；According to the angle, in advance
If horizontal parameters and Vertical Parameters, the first coordinate information and relative co-ordinate information determine that target is fixed using the second preset formula
Position parameter.
Due in embodiments of the present invention, according to first of target pixel points in the first image of current ball machine camera lens acquisition
Coordinate information, the angle of current ball machine camera lens and the longitudinally asymmetric axis of ball machine and preset horizontal parameters and Vertical Parameters, can be with
Determine that initial alignment parameter, control ball machine are positioned according to initial alignment parameter, then adopted according to the ball machine camera lens after positioning
The coordinate information of target pixel points, determines relative co-ordinate information in the second image and the first image of collection.Believed according to relative coordinate
In breath, the angle for positioning preceding ball machine camera lens and the longitudinally asymmetric axis of ball machine, preset horizontal parameters and Vertical Parameters and the first image
First coordinate information of target pixel points, determines target positional parameter.It is all first determining be somebody's turn to do so that being directed to the ball machine of different vendor
The initial alignment parameter of ball machine determines relative co-ordinate information, relative coordinate then according to the second image of ball machine positioning acquisition
Information is the ball machine on the basis of being positioned based on initial alignment parameter, also needs the coordinate information adjusted again；Therefore, according to
Angle, preset horizontal parameters and the Vertical Parameters of ball machine camera lens and the longitudinally asymmetric axis of ball machine, the first coordinate information and opposite seat
Information is marked, can determine the accurate target positional parameter of the ball machine.
Detailed description of the invention
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly introduced, it should be apparent that, drawings in the following description are only some embodiments of the invention, for this
For the those of ordinary skill in field, without creative efforts, it can also be obtained according to these attached drawings other
Attached drawing.
Fig. 1 is ball machine 3D positioning flow schematic diagram in the prior art；
Fig. 2 is the process schematic for the determination positional parameter that the embodiment of the present invention 1 provides；
Fig. 3 is the apparatus structure schematic diagram of determining positional parameter provided in an embodiment of the present invention.
Specific embodiment
The present invention will be describe below in further detail with reference to the accompanying drawings, it is clear that described embodiment is only this
Invention a part of the embodiment, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art exist
All other embodiment obtained under the premise of creative work is not made, shall fall within the protection scope of the present invention.
Embodiment 1:
Fig. 2 be determining positional parameter provided in an embodiment of the present invention process schematic, the process the following steps are included:
S101: the angle of current ball machine camera lens Yu the longitudinally asymmetric axis of ball machine is obtained.
The method of determining positional parameter provided in an embodiment of the present invention is applied to electronic equipment, which can be
The equipment such as PC, tablet computer.
After ball machine installs, the angle of electronic equipment available current ball machine camera lens and the longitudinally asymmetric axis of ball machine, when
The angle of preceding ball machine camera lens and the longitudinally asymmetric axis of ball machine can be the optical axis of current ball machine mirror and the angle of the longitudinally asymmetric axis of ball machine.
The process that wherein electronic equipment obtains the angle of current ball machine camera lens and the longitudinally asymmetric axis of ball machine belongs to the prior art, herein no longer
The process is repeated.
S102: the first coordinate information of target pixel points in the first image of current ball machine camera lens acquisition is obtained, according to institute
Angle, first coordinate information and preset horizontal parameters and Vertical Parameters are stated, using the first preset formula, it is initial fixed to determine
Position parameter.
The image of current ball machine camera lens acquisition is the first image, current ball machine camera lens acquisition to after the first image, can be with
By the first image transmitting to electronic equipment.Electronic equipment chooses an irremovable marker in the first image, will belong to
Some pixel of the marker is as target pixel points.For example, the marker chosen is a house, target pixel points are room
The pixel in the roof upper left corner in room.
First coordinate information of the available target pixel points of electronic equipment in the first image, such as first coordinate letter
Breath can be user and be input in electronic equipment, be obtained with electronic device.Preset horizontal ginseng is preserved in electronic equipment
Several and Vertical Parameters, wherein preset horizontal parameters and Vertical Parameters can be identical or different, for example, preset horizontal parameters
It is 1, preset Vertical Parameters are 1；Or preset horizontal parameters are 1.2, preset Vertical Parameters are 1.5 etc..
The first preset formula is preserved in electronic equipment, in the folder for getting current ball machine camera lens Yu the longitudinally asymmetric axis of ball machine
After the first coordinate information and preset horizontal parameters and Vertical Parameters of angle, target pixel points in the first image, first is substituted into
Preset formula, available initial alignment parameter.Wherein, the first preset formula can be a preset corresponding relationship, specifically
Be the first coordinate information in the first image of the angle, target pixel points of current ball machine camera lens and the longitudinally asymmetric axis of ball machine and
Preset horizontal parameters and Vertical Parameters, the corresponding relationship with initial alignment parameter.
S103: the initial alignment parameter is sent to the ball machine, the ball machine is controlled and is joined according to the initial alignment
Number is positioned.
After electronic equipment determines initial alignment parameter, initial alignment parameter is sent to ball machine.Ball machine receives initial fixed
After the parameter of position, positioned according to initial alignment parameter.Wherein, initial alignment parameter includes horizontal parameters and Vertical Parameters, ball
After machine receives initial alignment parameter, the rotation of horizontal direction is carried out according to horizontal parameters, carries out Vertical Square according to Vertical Parameters
To rotation, to realize positioning.
S104: the second coordinate letter of target pixel points described in the second image of the ball machine camera lens acquisition after obtaining positioning
Breath, according to second coordinate information and the first coordinate information, determines relative co-ordinate information.
Image according to the ball machine camera lens acquisition after the positioning of initial alignment parameter is the second image, the ball machine camera lens after positioning
After collecting the second image, the second image can be sent to electronic equipment.Electronic equipment identifies target picture in the second image
Vegetarian refreshments, and obtain second coordinate information of the target pixel points in the second image.Believed according to the second coordinate information and the first coordinate
Breath, can determine relative co-ordinate information.
S105: believed according to the angle, preset horizontal parameters and Vertical Parameters, the first coordinate information and relative coordinate
Breath, using the second preset formula, determines target positional parameter.
The second preset formula is preserved in electronic equipment, in the folder for getting current ball machine camera lens Yu the longitudinally asymmetric axis of ball machine
After the preset horizontal parameters in angle and Vertical Parameters, the first coordinate information and relative co-ordinate information, the second preset formula is substituted into, it can be with
Obtain target positional parameter.Wherein, the second preset formula can be a preset corresponding relationship, particularly current ball machine mirror
The preset horizontal parameters of angle and Vertical Parameters, the first coordinate information and relative co-ordinate information of head and the longitudinally asymmetric axis of ball machine,
With the corresponding relationship of target positional parameter.
Due in embodiments of the present invention, according to first of target pixel points in the first image of current ball machine camera lens acquisition
Coordinate information, the angle of current ball machine camera lens and the longitudinally asymmetric axis of ball machine and preset horizontal parameters and Vertical Parameters, can be with
Determine that initial alignment parameter, control ball machine are positioned according to initial alignment parameter, then adopted according to the ball machine camera lens after positioning
The coordinate information of target pixel points, determines relative co-ordinate information in the second image and the first image of collection.Believed according to relative coordinate
In breath, the angle for positioning preceding ball machine camera lens and the longitudinally asymmetric axis of ball machine, preset horizontal parameters and Vertical Parameters and the first image
First coordinate information of target pixel points, determines target positional parameter.It is all first determining be somebody's turn to do so that being directed to the ball machine of different vendor
The initial alignment parameter of ball machine determines relative co-ordinate information, relative coordinate then according to the second image of ball machine positioning acquisition
Information is the ball machine on the basis of being positioned based on initial alignment parameter, also needs the coordinate information adjusted again；Therefore, according to
Angle, preset horizontal parameters and the Vertical Parameters of ball machine camera lens and the longitudinally asymmetric axis of ball machine, the first coordinate information and opposite seat
Information is marked, can determine the accurate target positional parameter of the ball machine.
Embodiment 2:
It is on the basis of the above embodiments, in embodiments of the present invention, described in order to make to determine that initial alignment parameter is accurate
First preset formula includes:
A=x1×a1/sinθ；
B=y1×b1；
In formula, x1And y1Abscissa and ordinate in respectively the first coordinate information, a1And b1Respectively preset level
Parameter and Vertical Parameters, θ are the angle of current ball machine camera lens and the longitudinally asymmetric axis of ball machine, and a and b are respectively in initial alignment parameter
Horizontal parameters and Vertical Parameters.
Electronic equipment is getting the angle of current ball machine camera lens and the longitudinally asymmetric axis of ball machine, target pixel points in the first figure
After the first coordinate information and preset horizontal parameters and Vertical Parameters as in, the first preset formula is substituted into, it is available initial
Positional parameter.Horizontal parameters and Vertical Parameters in specific available initial alignment parameter.
For example, the angle of current ball machine camera lens and the longitudinally asymmetric axis of ball machine is 30 °, target pixel points are in the first image
First coordinate information is (10,20), and preset horizontal parameters and Vertical Parameters are respectively 1.Then in the first preset formula, a1=
1, x1=10, θ=30 °, b1=1, y1=20.It substitutes into the first preset formula, the horizontal parameters obtained in initial alignment parameter are
A=10 × 1/0.5=20, Vertical Parameters are b=20 × 1=20.
Determining initial alignment parameter can be made more acurrate using the first preset formula provided in an embodiment of the present invention.
Embodiment 3:
In order to keep the coordinate information of determining target pixel points more convenient, on the basis of the various embodiments described above, in this hair
In bright embodiment, the first coordinate information for obtaining target pixel points in the first image includes:
User is received to the clicking operation of target pixel points in the first image, determines the corresponding coordinate letter of the clicking operation
Breath, using the coordinate information as the first coordinate information of target pixel points in the first image；
The second coordinate information for obtaining target pixel points described in the second image includes:
User is received to the clicking operation of target pixel points described in the second image, determines the corresponding seat of the clicking operation
Information is marked, using the coordinate information as the second coordinate information of target pixel points in second image.
It can be clicked with mouse after user chooses the target pixel points in marker for the first image or the second image
Target pixel points, electronic equipment can identify the clicking operation of user, and determine the corresponding coordinate information of clicking operation, by this
Coordinate information as the target pixel points in the first coordinate information or the second image of the target pixel points in the first image
Two coordinate informations.
Specifically, user clicks target pixel points in the first image, electronic equipment is determined according to the clicking operation of user
First coordinate information of the target pixel points in the first image.User clicks target pixel points, electronic equipment in the second image
According to the clicking operation of user, second coordinate information of the target pixel points in the second image is determined.
Due in embodiments of the present invention, electronic equipment is according to the seats of the available target pixel points of clicking operation of user
Information is marked, user need to only click target pixel points in the picture, so that determining that the coordinate information of target pixel points is more convenient.
The clicking operation includes:
Single-click operation or double click operation.
The clicking operation that can be identified can be preset in electronic equipment, which can be single-click operation or double
Hit operation.
If the pre-set clicking operation that can be identified is single-click operation in electronic equipment, user is clicking target picture
When vegetarian refreshments, the coordinate information of the available target pixel points of electronic equipment, and if user double-clicks target pixel points, electronics is set
Standby task user has carried out maloperation.In order to improve user experience, prompt information can be exported, to prompt user to carry out clicking behaviour
Make.The pre-set clicking operation that can be identified is that the process of double click operation is similar to the above in electronic equipment, herein no longer
It is repeated.
Embodiment 4:
On the basis of the various embodiments described above, in embodiments of the present invention, sat according to second coordinate information and first
Information is marked, determines that relative co-ordinate information includes:
By the difference of the abscissa in the abscissa and the second coordinate information in the first coordinate information, believe as relative coordinate
Abscissa in breath；By the difference of the ordinate in the ordinate and the second coordinate information in the first coordinate information, as opposite
Ordinate in coordinate information.
Electronic equipment identifies in the first coordinate information respectively after determining the first coordinate information and the second coordinate information
Abscissa, ordinate and abscissa, ordinate in the second coordinate information.Then the horizontal seat in the first coordinate information is calculated
The difference of mark and the abscissa in the second coordinate information, using the difference as the abscissa in relative co-ordinate information.Calculate first
The difference of ordinate in coordinate information and the ordinate in the second coordinate information, using the difference as in relative co-ordinate information
Ordinate.
For example, the first coordinate information that electronic equipment is determined is (50,40), the second coordinate information is (35,30).Then really
The relative co-ordinate information made is (15,10).
Embodiment 5:
In order to make to determine that target positional parameter is more acurrate, on the basis of the various embodiments described above, in embodiments of the present invention,
Second preset formula includes:
A'=a1×sinθ×x1/x2；
B'=b1×y1/y2；
In formula, x1And y1Abscissa and ordinate in respectively the first coordinate information, a1And b1Respectively preset level
Parameter and Vertical Parameters, θ are the angle of current ball machine camera lens and the longitudinally asymmetric axis of ball machine, x2And y2Respectively relative co-ordinate information
In abscissa and ordinate, a' and b' are respectively horizontal parameters and Vertical Parameters in target positional parameter.
Electronic equipment is getting the angle of current ball machine camera lens and the longitudinally asymmetric axis of ball machine, target pixel points in the first figure
After the first coordinate information, preset horizontal parameters and Vertical Parameters and relative co-ordinate information as in, the second default public affairs are substituted into
Formula, available target positional parameter.Horizontal parameters and Vertical Parameters in specific available target positional parameter.
For example, the angle of current ball machine camera lens and the longitudinally asymmetric axis of ball machine is 30 °, target pixel points are in the first image
First coordinate information is (10,20), and preset horizontal parameters and Vertical Parameters are respectively 1, and determining relative co-ordinate information is
(15,10).Then in the second preset formula, a1=1, x1=10, θ=30 °, x2=15, b1=1, y1=20, y2=10.It substitutes into
In second preset formula, obtaining the horizontal parameters in target positional parameter is a '=1 × 0.5 × 10/15=1/3, Vertical Parameters
For b '=1 × 20/10=2.
Determining target positional parameter can be made more acurrate using the second preset formula provided in an embodiment of the present invention.
Fig. 3 is the apparatus structure schematic diagram of determining positional parameter provided in an embodiment of the present invention, which includes:
Module 31 is obtained, for obtaining the angle of current ball machine camera lens Yu the longitudinally asymmetric axis of ball machine；
First determining module 32, first for obtaining target pixel points in the first image that current ball machine camera lens acquires sits
Information is marked, according to the angle, first coordinate information and preset horizontal parameters and Vertical Parameters, using the first default public affairs
Formula determines initial alignment parameter；
Sending module 33 controls the ball machine according to for the initial alignment parameter to be sent to the ball machine
Initial alignment parameter is positioned；
The acquisition module 31, object pixel described in the second image of the ball machine camera lens acquisition after being also used to obtain positioning
Second coordinate information of point determines relative co-ordinate information according to second coordinate information and the first coordinate information；
Second determining module 34, for according to the angle, preset horizontal parameters and Vertical Parameters, the first coordinate information
And relative co-ordinate information determines target positional parameter using the second preset formula.
First preset formula includes:
A=x1×a1/sinθ；
B=y1×b1；
In formula, x1And y1Abscissa and ordinate in respectively the first coordinate information, a1And b1Respectively preset level
Parameter and Vertical Parameters, θ are the angle of current ball machine camera lens and the longitudinally asymmetric axis of ball machine, and a and b are respectively in initial alignment parameter
Horizontal parameters and Vertical Parameters.
The acquisition module 31 is determined specifically for receiving user to the clicking operation of target pixel points in the first image
The corresponding coordinate information of the clicking operation, using the coordinate information as the first coordinate of target pixel points in the first image
Information；
The acquisition module, specifically for receiving user to the clicking operation of target pixel points described in the second image, really
Determine the corresponding coordinate information of the clicking operation, is sat the coordinate information as second of target pixel points in second image
Mark information.
The acquisition module 31, specifically for by the horizontal seat in the abscissa and the second coordinate information in the first coordinate information
Target difference, as the abscissa in relative co-ordinate information；It will be in the ordinate and the second coordinate information in the first coordinate information
Ordinate difference, as the ordinate in relative co-ordinate information.
Second preset formula includes:
A'=a1×sinθ×x1/x2；
B'=b1×y1/y2；
In formula, x1And y1Abscissa and ordinate in respectively the first coordinate information, a1And b1Respectively preset level
Parameter and Vertical Parameters, θ are the angle of current ball machine camera lens and the longitudinally asymmetric axis of ball machine, x2And y2Respectively relative co-ordinate information
In abscissa and ordinate, a' and b' are respectively horizontal parameters and Vertical Parameters in target positional parameter.
The embodiment of the invention provides a kind of method and devices of determining positional parameter, which comprises obtains current
The angle of ball machine camera lens and the longitudinally asymmetric axis of ball machine；Obtain the of target pixel points in the first image of current ball machine camera lens acquisition
One coordinate information, it is pre- using first according to the angle, first coordinate information and preset horizontal parameters and Vertical Parameters
If formula, initial alignment parameter is determined；The initial alignment parameter is sent to the ball machine, controls the ball machine according to
Initial alignment parameter is positioned；Second of target pixel points described in second image of the ball machine camera lens acquisition after obtaining positioning
Coordinate information determines relative co-ordinate information according to second coordinate information and the first coordinate information；According to the angle, in advance
If horizontal parameters and Vertical Parameters, the first coordinate information and relative co-ordinate information determine that target is fixed using the second preset formula
Position parameter.
Due in embodiments of the present invention, according to first of target pixel points in the first image of current ball machine camera lens acquisition
Coordinate information, the angle of current ball machine camera lens and the longitudinally asymmetric axis of ball machine and preset horizontal parameters and Vertical Parameters, can be with
Determine that initial alignment parameter, control ball machine are positioned according to initial alignment parameter, then adopted according to the ball machine camera lens after positioning
The coordinate information of target pixel points, determines relative co-ordinate information in the second image and the first image of collection.Believed according to relative coordinate
In breath, the angle for positioning preceding ball machine camera lens and the longitudinally asymmetric axis of ball machine, preset horizontal parameters and Vertical Parameters and the first image
First coordinate information of target pixel points, determines target positional parameter.It is all first determining be somebody's turn to do so that being directed to the ball machine of different vendor
The initial alignment parameter of ball machine determines relative co-ordinate information, relative coordinate then according to the second image of ball machine positioning acquisition
Information is the ball machine on the basis of being positioned based on initial alignment parameter, also needs the coordinate information adjusted again；Therefore, according to
Angle, preset horizontal parameters and the Vertical Parameters of ball machine camera lens and the longitudinally asymmetric axis of ball machine, the first coordinate information and opposite seat
Information is marked, can determine the accurate target positional parameter of the ball machine.
The present invention be referring to according to the method for the embodiment of the present invention, the process of equipment (system) and computer program product
Figure and/or block diagram describe.It should be understood that every one stream in flowchart and/or the block diagram can be realized by computer program instructions
The combination of process and/or box in journey and/or box and flowchart and/or the block diagram.It can provide these computer programs
Instruct the processor of general purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices to produce
A raw machine, so that being generated by the instruction that computer or the processor of other programmable data processing devices execute for real
The device for the function of being specified in present one or more flows of the flowchart and/or one or more blocks of the block diagram.
These computer program instructions, which may also be stored in, is able to guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works, so that it includes referring to that instruction stored in the computer readable memory, which generates,
Enable the manufacture of device, the command device realize in one box of one or more flows of the flowchart and/or block diagram or
The function of being specified in multiple boxes.
These computer program instructions also can be loaded onto a computer or other programmable data processing device, so that counting
Series of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, thus in computer or
The instruction executed on other programmable devices is provided for realizing in one or more flows of the flowchart and/or block diagram one
The step of function of being specified in a box or multiple boxes.
Although preferred embodiments of the present invention have been described, it is created once a person skilled in the art knows basic
Property concept, then additional changes and modifications may be made to these embodiments.So it includes excellent that the following claims are intended to be interpreted as
It selects embodiment and falls into all change and modification of the scope of the invention.
Obviously, various changes and modifications can be made to the invention without departing from essence of the invention by those skilled in the art
Mind and range.In this way, if these modifications and changes of the present invention belongs to the range of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to include these modifications and variations.
Claims (10)
1. a kind of method of determining positional parameter, which is characterized in that the described method includes:
Obtain the angle of current ball machine camera lens Yu the longitudinally asymmetric axis of ball machine；
The first coordinate information for obtaining target pixel points in the first image of current ball machine camera lens acquisition, according to the angle, institute
The first coordinate information and preset horizontal parameters and Vertical Parameters are stated, using the first preset formula, determine initial alignment parameter；
The initial alignment parameter is sent to the ball machine, the ball machine is controlled and is determined according to the initial alignment parameter
Position；
Second coordinate information of target pixel points described in the second image of the ball machine camera lens acquisition after obtaining positioning, according to described
Second coordinate information and the first coordinate information, determine relative co-ordinate information；
According to the angle, preset horizontal parameters and Vertical Parameters, the first coordinate information and relative co-ordinate information, using second
Preset formula determines target positional parameter.
2. the method as described in claim 1, which is characterized in that first preset formula includes:
A=x1×a1/sinθ；
B=y1×b1；
In formula, x1And y1Abscissa and ordinate in respectively the first coordinate information, a1And b1Respectively preset horizontal parameters
And Vertical Parameters, θ are the angle of current ball machine camera lens and the longitudinally asymmetric axis of ball machine, a and b are respectively the water in initial alignment parameter
Flat parameter and Vertical Parameters.
3. the method as described in claim 1, which is characterized in that obtain the first coordinate information of target pixel points in the first image
Include:
User is received to the clicking operation of target pixel points in the first image, determines the corresponding coordinate information of the clicking operation,
Using the coordinate information as the first coordinate information of target pixel points in the first image；
The second coordinate information for obtaining target pixel points described in the second image includes:
User is received to the clicking operation of target pixel points described in the second image, determines the corresponding coordinate letter of the clicking operation
Breath, using the coordinate information as the second coordinate information of target pixel points in second image.
4. the method as described in claim 1, which is characterized in that described to be believed according to second coordinate information and the first coordinate
Breath, determines that relative co-ordinate information includes:
By the difference of the abscissa in the abscissa and second coordinate information in first coordinate information, as the phase
To the abscissa in coordinate information；By the ordinate in the ordinate and second coordinate information in first coordinate information
Difference, as the ordinate in the relative co-ordinate information.
5. the method as described in claim 1, which is characterized in that second preset formula includes:
A'=a1×sinθ×x1/x2；
B'=b1×y1/y2；
In formula, x1And y1Abscissa and ordinate in respectively the first coordinate information, a1And b1Respectively preset horizontal parameters
And Vertical Parameters, θ are the angle of current ball machine camera lens and the longitudinally asymmetric axis of ball machine, x2And y2Respectively in relative co-ordinate information
Abscissa and ordinate, a' and b' are respectively horizontal parameters and Vertical Parameters in target positional parameter.
6. a kind of device of determining positional parameter, which is characterized in that described device includes:
Module is obtained, for obtaining the angle of current ball machine camera lens Yu the longitudinally asymmetric axis of ball machine；
First determining module, for obtaining the first coordinate letter of target pixel points in the first image that current ball machine camera lens acquires
Breath, according to the angle, first coordinate information and preset horizontal parameters and Vertical Parameters, using the first preset formula,
Determine initial alignment parameter；
Sending module controls the ball machine according to described initial fixed for the initial alignment parameter to be sent to the ball machine
Position parameter is positioned；
The acquisition module, the of target pixel points described in the second image of the ball machine camera lens acquisition after being also used to obtain positioning
Two coordinate informations determine relative co-ordinate information according to second coordinate information and the first coordinate information；
Second determining module, for according to the angle, preset horizontal parameters and Vertical Parameters, the first coordinate information and opposite
Coordinate information determines target positional parameter using the second preset formula.
7. device as claimed in claim 6, which is characterized in that first preset formula includes:
A=x1×a1/sinθ；
B=y1×b1；
In formula, x1And y1Abscissa and ordinate in respectively the first coordinate information, a1And b1Respectively preset horizontal parameters
And Vertical Parameters, θ are the angle of current ball machine camera lens and the longitudinally asymmetric axis of ball machine, a and b are respectively the water in initial alignment parameter
Flat parameter and Vertical Parameters.
8. device as claimed in claim 7, which is characterized in that the acquisition module is specifically used for receiving user to the first figure
The clicking operation of target pixel points, determines the corresponding coordinate information of the clicking operation, using the coordinate information as described in as in
First coordinate information of target pixel points in first image；
The acquisition module determines institute specifically for receiving user to the clicking operation of target pixel points described in the second image
The corresponding coordinate information of clicking operation is stated, is believed the coordinate information as the second coordinate of target pixel points in second image
Breath.
9. device as claimed in claim 6, which is characterized in that the acquisition module is specifically used for believing on first coordinate
The difference of the abscissa in abscissa and second coordinate information in breath, as the horizontal seat in the relative co-ordinate information
Mark；By the difference of the ordinate in the ordinate and second coordinate information in first coordinate information, as the phase
To the ordinate in coordinate information.
10. device as claimed in claim 6, which is characterized in that second preset formula includes:
A'=a1×sinθ×x1/x2；
B'=b1×y1/y2；
In formula, x1And y1Abscissa and ordinate in respectively the first coordinate information, a1And b1Respectively preset horizontal parameters
And Vertical Parameters, θ are the angle of current ball machine camera lens and the longitudinally asymmetric axis of ball machine, x2And y2Respectively in relative co-ordinate information
Abscissa and ordinate, a' and b' are respectively horizontal parameters and Vertical Parameters in target positional parameter.
Priority Applications (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811115795.5A CN110248148B (en) | 2018-09-25 | 2018-09-25 | Method and device for determining positioning parameters |
| EP18935450.9A EP3834174A4 (en) | 2018-09-25 | 2018-12-29 | Systems and methods for 3-dimensional (3d) positioning of imaging device |
| PCT/CN2018/125754 WO2020062699A1 (en) | 2018-09-25 | 2018-12-29 | Systems and methods for 3-dimensional (3d) positioning of imaging device |
| US17/199,329 US11233946B2 (en) | 2018-09-25 | 2021-03-11 | Systems and methods for 3-dimensional (3D) positioning of imaging device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811115795.5A CN110248148B (en) | 2018-09-25 | 2018-09-25 | Method and device for determining positioning parameters |
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| CN110248148B CN110248148B (en) | 2022-04-15 |
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| US (1) | US11233946B2 (en) |
| EP (1) | EP3834174A4 (en) |
| CN (1) | CN110248148B (en) |
| WO (1) | WO2020062699A1 (en) |
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| CN111353930B (en) * | 2018-12-21 | 2022-05-24 | 北京市商汤科技开发有限公司 | Data processing method and device, electronic equipment and storage medium |
| US11755643B2 (en) * | 2020-07-06 | 2023-09-12 | Microsoft Technology Licensing, Llc | Metadata generation for video indexing |
| CN112634376A (en) * | 2020-12-25 | 2021-04-09 | 深圳中科飞测科技股份有限公司 | Calibration method and device, calibration equipment and storage medium |
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Also Published As
| Publication number | Publication date |
|---|---|
| EP3834174A1 (en) | 2021-06-16 |
| US11233946B2 (en) | 2022-01-25 |
| EP3834174A4 (en) | 2021-10-06 |
| CN110248148B (en) | 2022-04-15 |
| WO2020062699A1 (en) | 2020-04-02 |
| US20210203855A1 (en) | 2021-07-01 |
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